25 lines
1.1 KiB
XML
25 lines
1.1 KiB
XML
<launch>
|
|
<arg name="camera_info_topic_name" default="/usb_cam/camera_info"/>
|
|
<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" respawn="true" respawn_delay="2">
|
|
<param name="video_device" value="/dev/usb_cam0" />
|
|
<param name="image_width" value="640" />
|
|
<param name="image_height" value="480" />
|
|
<param name="pixel_format" value="yuyv" />
|
|
<param name="camera_frame_id" value="usb_cam" />
|
|
<param name="io_method" value="mmap"/>
|
|
</node>
|
|
|
|
<node name="image_proc" pkg="image_proc" type="image_proc" ns="usb_cam"/>
|
|
|
|
<node name="web_video_server" pkg="web_video_server" type="web_video_server" output="screen">
|
|
<param name="port" type="int" value="8080" />
|
|
<param name="address" type="string" value="0.0.0.0" />
|
|
<param name="server_threads" type="int" value="2" />
|
|
<param name="ros_threads" type="int" value="2" />
|
|
<param name="width" type="int" value="640" />
|
|
<param name="height" type="int" value="480" />
|
|
<param name="quality" type="int" value="90" />
|
|
<param name="type" type="string" value="h264" />
|
|
</node>
|
|
</launch>
|